/*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2015, Fabian Girrbach, Social Robotics Lab, University of Freiburg
*  All rights reserved.
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*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions are met:
*
*  * Redistributions of source code must retain the above copyright notice, this
*    list of conditions and the following disclaimer.
*  * Redistributions in binary form must reproduce the above copyright notice,
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*    may be used to endorse or promote products derived from this software
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*/

#ifndef _INITIATOR_CANDIDATE_H
#define _INITIATOR_CANDIDATE_H

#include <boost/shared_ptr.hpp>
#include <vector>


#include <srl_nearest_neighbor_tracker/data/observation.h>
#include <srl_nearest_neighbor_tracker/data/kalman_filter_state.h>
#include <srl_nearest_neighbor_tracker/base/defs.h>


namespace srl_nnt
{
struct InitiatorCandidate 
{
    // vector of observations assigned to the candidate
    Observations observations;

    double meanAngle;

    // current state of kalman filter
    KalmanFilterState::Ptr state;

    // extrapolation is stored as observation
    Observation::Ptr extrapolation;

    // Missed observations
    unsigned int missedObs;

    typedef boost::shared_ptr<InitiatorCandidate> Ptr;
    typedef boost::shared_ptr<const InitiatorCandidate> ConstPtr;
};

typedef std::vector< InitiatorCandidate::Ptr > InitiatorCandidates;


} // end of namespace srl_nnt


#endif // _INITIATOR_CANDIDATE_H
